Contents


Introduction

We present a safe gain optimization algorithm for variable impedance control. The algorithm is able to obtain the optimal impedance gain without manully tuning and avoid unwanted collisions in real-time. Check out our webiste page here.

Experiment 1 (Collision Avoidance): Videos

Constant Gain Baseline (CGIC) Safe OnGO-VIC

Experiment 2 (Surface Contact): Videos

Performance on a Plastic Board

Constant Gain (CGIC) Adaptive Law (AVIC) Safe OnGO-VIC

Performance on a Metal Board

Constant Gain (CGIC) Adaptive Law (AVIC) Safe OnGO-VIC

Performance on a Wood Chair

Constant Gain (CGIC) Adaptive Law (AVIC) Safe OnGO-VIC

Experiment 3 (Surface Wiping): Videos